Stirrup transfer device, stirrup processing equipment, stirrup processing system, stirrup production line and sleeper production line

Abstract

The utility model discloses a stirrup transfer device, stirrup machining equipment, a stirrup machining system, a stirrup production line and a sleeper production line. The stirrup transfer device is used for transferring stirrups welded on a welding workbench to a stirrup placement area; the stirrup transfer device comprises a supporting structure body, a mounting arm and a stirrup taking and placing unit. The mounting arm is suspended on one side of the supporting structure body, and the mounting arm can move along the supporting structure body; the stirrup taking and placing unit is used for taking and placing stirrups, the stirrup taking and placing unit is connected with the mounting arm, and the welding workbench and the stirrup placing area are located below the movement track of the stirrup taking and placing unit. The stirrup transfer device can transfer stirrups between the welding workbench and the stirrup placing area, and has the advantages of being simple in structure and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of steel bar processing, and in particular to a stirrup transfer device, stirrup processing equipment, a stirrup processing system, a stirrup production line and a sleeper production line. Background Art

[0002] Stirrups are widely used in the production process of prefabricated parts. For example, stirrups are an important part of the metal skeleton of sleepers. In the mass production of sleepers, stirrups are used in large quantities. How to quickly, efficiently and with high quality realize the processing and production of stirrups is of great significance to the production of prefabricated parts using them.

[0003] In the production process of some stirrups, it is necessary to weld the stirrups to improve the mechanical properties of the prefabricated parts using welded stirrups. Therefore, in the processing of some stirrups, it is necessary to weld the stirrups, inspect the welds, and transfer the inspected stirrups to the stirrup placement area. How to realize the automation and efficient processing and transportation of stirrups including welding process is a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0004] The purpose of this application is to at least alleviate the problems of low processing efficiency and transfer efficiency in the existing stirrup processing solutions. This is specifically achieved through the following technical solutions:

[0005] In the first aspect, the present application discloses a stirrup transfer device, which is used to transfer stirrups welded on a welding workbench to a stirrup placement area, and the stirrup transfer device includes a supporting structure, an installation arm and a stirrup picking and placing unit; the installation arm is arranged on one side of the supporting structure, and the installation arm can move along the supporting structure; the stirrup picking and placing unit is used to pick and place stirrups, and the stirrup picking and placing unit is connected to the installation arm, and the welding workbench and the stirrup placement area are located below the movement trajectory of the stirrup picking and placing unit.

[0006] The present application enables the installation arm included in the stirrup transfer device to be suspended on one side of the supporting structure, and enables the installation arm to move along the supporting structure, and further enables the stirrup picking and placing unit to be connected to the installation arm, so that during the movement of the installation arm, the stirrup picking and placing unit can be driven to move; further, the welding workbench and the stirrup placement area are located below the movement trajectory of the stirrup picking and placing unit, so that the stirrup picking and placing unit can obtain the stirrups from the welding workbench and transfer the obtained stirrups to the stirrup placement area; thereby realizing the transfer process of the stirrups from the welding workbench to the stirrup placement area; at the same time, the welding workbench can constrain the next stirrup, thereby providing technical support for the automated production of stirrups.

[0007] In addition, the stirrup transfer device according to the present application may also have the following additional technical features:

[0008] In some embodiments of the present application, the stirrup picking and placing unit further includes a first push-pull assembly and a stirrup picking and placing assembly, the first push-pull assembly is fixed on the mounting arm, and the push-pull end of the first push-pull assembly is set downward; the stirrup picking and placing assembly is used to obtain the stirrups on the welding workbench, and the stirrup picking and placing assembly is connected to the push-pull end of the first push-pull assembly.

[0009] The present application makes the stirrup picking and placing unit include a first push-pull assembly and a stirrup picking and placing assembly. Under the action of the first push-pull assembly, the stirrup picking and placing assembly can be pushed to move toward the welding workbench, so that the stirrup picking and placing assembly can grab the welded stirrups from the welding workbench. Under the action of the first push-pull assembly, the stirrup picking and placing assembly with the stirrups can be driven to leave the welding workbench, and the installation arm can be further moved along the supporting structure, so that the stirrup picking and placing assembly can move the grabbed stirrups from the welding workbench to the stirrup placement area and place the stirrups in the stirrup placement area, so as to realize the transportation of the stirrups after welding is completed.

[0010] In some embodiments of the present application, the stirrup picking and placing unit further includes a strip-shaped mounting body, the middle part of which is fixedly connected to the push-pull end of the first push-pull component; the stirrup picking and placing unit includes two stirrup picking and placing components, the two stirrup picking and placing components are fixed on the strip-shaped mounting body, one stirrup picking and placing component is located on the first side of the push-pull direction of the first push-pull component, and the other stirrup picking and placing component is located on the second side of the push-pull direction of the first push-pull component.

[0011] The present application provides a stirrup transport device including two stirrup pick-up and placement components. Under the action of the two stirrup pick-up and placement components, the stirrups can be grasped at two positions, thereby making the stirrups grasped more securely, alleviating the possibility of the stirrups being misplaced or falling during the grasping and transporting process, and further improving the reliability of stirrup transport. In addition, by making the two stirrup pick-up and placement components respectively located on both sides of the push-pull direction of the first push-pull component, the distance between the grasping positions of the two stirrup pick-up and placement components can be increased, and the stirrup pick-up and placement unit can also grasp the transported stirrups more securely.

[0012] In some embodiments of the present application, the stirrup picking and placing assembly can be further selectively configured as a pneumatic clamp, with one stirrup picking and placing assembly used to clamp the first section of the stirrup, and the other stirrup picking and placing assembly used to clamp the second section of the stirrup; and / or, the first push-pull assembly can be selectively configured as a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

[0013] The present application configures the stirrup picking and placing device as a pneumatic clamp, utilizing the advantage of the rapid response of the pneumatic clamp to effectively increase the grabbing speed of the stirrups, thereby increasing the transportation efficiency of the stirrups and further increasing the production efficiency of the stirrups; at the same time, there are many types of pneumatic clamps, which can be selected and purchased according to actual needs during design without the need for additional design work.

[0014] In some preferred embodiments of the present application, the stirrup picking and placing assembly further selectively includes a positioning structure and a limiting structure, the positioning structure is provided with a positioning plane facing the welding workbench; the limiting structure is provided with a limiting groove facing the welding workbench; the positioning structure and the limiting structure are arranged on both sides of the clamping part of the pneumatic clamp in a direction perpendicular to the clamping direction of the pneumatic clamp; when the stirrup picking and placing assembly is in a state of clamping the stirrup, the positioning plane abuts against the outer periphery of the stirrup, and the limiting groove is clamped against the outer periphery of the stirrup.

[0015] The present application can vertically position the stirrups by setting a positioning plane facing the welding workbench on the positioning structure, and can horizontally limit the stirrups by setting a limiting groove on the limiting structure, so that when grabbing the stirrups, the stirrups can be better restricted, so that the positioning of the stirrups is more accurate, which helps to transfer the stirrups to the stirrup storage rack set in the stirrup placement area. In addition, when the stirrup picking and placing unit includes two stirrup picking and placing components, the positioning structure and the limiting structure are designed in this way to avoid over-positioning of the stirrups.

[0016] In some preferred embodiments of the present application, the support structure further selectively includes a support column and a load-bearing beam, the load-bearing beam is fixed on the support column, the mounting arm is suspended on one side of the load-bearing beam, and the mounting arm can move along the extension direction of the load-bearing beam.

[0017] In the present application, the supporting structure includes supporting columns and load-bearing beams, and the load-bearing beams are fixed on the supporting columns. This arrangement can effectively reduce the space occupied by the supporting structure and the stirrup transfer device.

[0018] In some preferred embodiments of the present application, the stirrup transfer device further selectively includes an installation arm driving assembly, through which the installation arm is connected to the load-bearing beam, and the installation arm driving assembly can drive the installation arm to move along the extension direction of the load-bearing beam. In specific implementation, the mounting arm driving assembly can be further selectively made into a linear motor module, the linear motor module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the linear motor module; or, the mounting arm driving assembly can be selectively made into a gear rack linear module, the gear rack linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the gear rack linear module; or, the mounting arm driving assembly can be selectively made into a screw slider module, the screw slider module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the screw slider module; or, the mounting arm driving assembly can be selectively made into a synchronous belt linear module, the synchronous belt linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the synchronous belt linear module.

[0019] This application enables the installation arm to move along the installation arm under the drive of electricity by setting the installation arm drive component as one of the linear motor module, gear rack linear module, screw slider module or synchronous belt linear module, thereby providing technical support for the automated and intelligent transportation of stirrups. Not only that, the linear motor module, gear rack linear module, screw slider module or synchronous belt linear module are all ready-made products. In the specific design, they can be selected according to actual needs, which effectively reduces the design difficulty of the stirrup transfer device, shortens the research and development cycle, and makes the stirrup transfer device have reliable performance, reduces the failure rate of the equipment and reduces the maintenance cost.

[0020] In the second aspect, the present application provides a stirrup processing equipment, which includes a welding workbench, a stirrup placement area, and a stirrup transfer device as described in any of the aforementioned embodiments; the welding workbench is used to constrain the stirrups, the welding workbench and the stirrup placement area are arranged directly below the running track of the stirrup picking and placing unit, and the stirrup placement area is provided with a stirrup storage rack.

[0021] In some preferred embodiments of the present application, the stirrup processing equipment further includes a welder for welding stirrups, the welder includes a welding gun and a wire feeder, the welding gun is connected to the mounting arm, and the welding gun head is facing downward; the mounting arm is provided with a wire feeder mounting position, the wire feeder is installed on the wire feeder mounting position, and the wire feeder can provide welding wire to the welding gun. By installing the wire feeder on the mounting arm, the present application can keep the wire feeder and the welding gun in a relatively static state during the movement of the mounting arm, so that the wire feeder can provide welding wire to the welding gun more stably and reliably, thereby ensuring the smooth implementation of the stirrup welding process.

[0022] In some preferred embodiments of the present application, it is further preferred that the stirrup processing equipment also includes a second push-pull assembly and a welding gun mounting seat, the second push-pull assembly is fixed on the mounting arm, and the push-pull end of the second push-pull assembly faces downward; the welding gun mounting seat is connected to the push-pull end of the second push-pull assembly, the welding gun is fixed on the welding gun mounting seat, and the welding gun has a position for welding the stirrups.

[0023] In some preferred embodiments of the present application, the stirrup processing equipment further selectively includes a weld detection unit, the weld detection unit is fixed on the mounting arm, and the detection area of ​​the weld detection unit covers the welding area of ​​the stirrup; the second push-pull assembly can be further selectively a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

[0024] In a third aspect, the present application provides a stirrup processing system, which includes at least one stirrup processing device described in any of the aforementioned embodiments.

[0025] As some preferred embodiments of the present application, the stirrup processing system further selectively includes at least two stirrup processing devices, and the at least two stirrup processing devices are installed side by side.

[0026] In the fourth aspect, the present application also provides a stirrup production line, which includes a steel bar bending unit, a stirrup transfer robot and the stirrup processing system described in any of the preceding embodiments; the steel bar bending unit is used to bend the steel bars into stirrups; the stirrup transfer robot is used to obtain stirrups from the steel bar bending unit and transfer the obtained stirrups to the welding workbench.

[0027] In a fifth aspect, the present application also provides a sleeper production line, which includes the aforementioned stirrup production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of stirrup processing equipment in some embodiments of the present application;

[0029] Figure 2 It is a structural schematic diagram of stirrup processing equipment according to other embodiments of the present application;

[0030] Figure 3 A schematic structural diagram of a structural unit including a mounting arm, a stirrup picking and placing unit, a welding gun, a weld detection unit and other components in some embodiments of the present application from one perspective;

[0031] Figure 4 for Figure 3 A schematic structural diagram of another perspective of the structural unit shown;

[0032] Figure 5 A perspective structural schematic diagram of a structural unit including a mounting arm, a stirrup picking and placing unit, a welding gun, a weld detection unit, etc. in some other embodiments of the present application;

[0033] Figure 6 for Figure 5 A schematic structural diagram of another perspective of the structural unit shown;

[0034] Figure 7 It is a schematic diagram of the structure of a stirrup storage rack in some embodiments of the present application, and stirrups are provided on the stirrup storage rack;

[0035] Figure 8 It is a schematic diagram of the structure of the stirrup picking and placing assembly of some embodiments of the present application;

[0036] Fig. 9 for Figure 8 A cross-sectional view of the stirrup pick-up and placement assembly is shown;

[0037] Fig.10It is a structural schematic diagram of a stirrup production line in some embodiments of the present application;

[0038] Fig.11 It is a structural schematic diagram of a stirrup production line in some other embodiments of the present application;

[0039] Fig.12 A schematic diagram of the structure of a stirrup welded by a stirrup processing device in some embodiments of the present application, in which the stirrup is not welded;

[0040] Fig.13 This is a schematic diagram of the structure of a stirrup transported by a stirrup transport device in some embodiments of the present application, in which the stirrup has been welded.

[0041] In the figure:

[0042] 1. Welding workbench;

[0043] 2. Stirrup placement area; 21. Stirrup storage rack; 211. Structure to limit stirrups;

[0044] 31. Support column; 32. Load-bearing beam;

[0045] 4. Mounting arm; 41. Mounting arm body; 42. Connecting flange;

[0046] 5. stirrup pick-up and placement unit; 51. first push-pull assembly; 511. push-pull end of the first push-pull assembly; 52. stirrup pick-up and placement assembly; 521. positioning structure; 5211. positioning plane; 522. limiting structure; 5221. limiting groove; 523. clamping part; 53. strip-shaped mounting body; 54. first guide rail; 55. first mounting seat; 56. first slider;

[0047] 6. stirrups; 61. welds;

[0048] 7. Install the arm drive assembly;

[0049] 81. Welding gun; 82. Wire feeder;

[0050] 91. second push-pull assembly; 911. push-pull end of the second push-pull assembly; 92. welding gun mounting seat; 93. protective cover; 94. second guide rail; 95. second mounting seat; 96. second slide block;

[0051] 10. Weld inspection unit;

[0052] 100. Steel bar bending unit;

[0053] 1000. Stirrup transfer robot. DETAILED DESCRIPTION

[0054] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0055] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts and / or their combinations. The method steps, processes and operations described herein are not interpreted as requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0056] Although the terms "first", "second", "third", etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these technical terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second", etc. and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the first element, component, region, layer or section without departing from the teachings of the example embodiments.

[0057] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both above and below orientations.

[0058] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "provided with", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present application, "above a certain value" includes the number itself, for example, "five above" includes five.

[0061] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0062] Combine the following Figures 1 to 13 The stirrup transfer device, stirrup processing equipment, stirrup processing system, stirrup production line and sleeper production line provided by the utility model are specifically described. The sleepers in the present application can be selectively sleepers required for railway construction, for example, they can be selectively double-block sleepers, prestressed sleepers, etc.

[0063] First, as Figure 1 As shown, the stirrup transfer device disclosed in the present application is used to transfer the stirrups 6 welded on the welding workbench 1 to the stirrup placement area 2, and the stirrup transfer device includes a support structure, an installation arm 4 and a stirrup pick-up and placement unit 5; the installation arm 4 is suspended on one side of the support structure, and the installation arm 4 can move along the support structure; the stirrup pick-up and placement unit 5 is used to pick up and place the stirrups 6, and the stirrup pick-up and placement unit 5 is connected to the installation arm 4, and the welding workbench 1 and the stirrup placement area 2 are located below the movement track of the stirrup pick-up and placement unit 5. In specific implementation, the stirrup pick-up and placement unit 5 is further controlled by the control unit, and the stirrups are obtained or released under the control of the control unit.

[0064] It should be noted that the form of the support structure in the present application is not specifically limited, and it can be any structural form that meets the installation and operation load-bearing requirements of the mounting arm 4. In specific implementation, the support structure can selectively include a support column 31 and a load-bearing beam 32, the load-bearing beam 32 is fixed on the support column 31, the mounting arm 4 is suspended on one side of the load-bearing beam 32, and the mounting arm 4 can move along the extension direction of the load-bearing beam 32. Further, as Figure 1 , Figure 2 , Fig.10 and Fig.11 As shown, the support structure includes two support columns 31 and a load-bearing beam 32. The two support columns 31 are arranged vertically, and the load-bearing beam 32 is connected to the two support columns 31 by bridging to form a gate-shaped structure. In the present application, the support structure includes the support columns 31 and the load-bearing beam 32, and the load-bearing beam 32 is fixed on the support columns 31. This arrangement can effectively reduce the space occupied by the support structure.

[0065] As a convertible implementation, the number of support columns 31 included in the support structure can be set to one, three, four or five or more, and the load-bearing beam 32 can be straddled on the support columns 31. In a specific implementation, the support structure can be selectively a wall structure.

[0066] It should be pointed out that the specific structural form of the mounting arm 4 in the present application is not specifically limited, and it can be any structural form that can at least meet the installation and load-bearing requirements of the stirrup picking and placing unit 5; in specific implementation, the mounting arm 4 can selectively be a cantilever beam, and the mounting arm 4 can further be a structure formed by processing a profile (as shown in the figure, the mounting arm body 41 is processed from a square tube), and the mounting arm 4 can also selectively be a truss structure.

[0067] It should also be pointed out that the structure of the stirrup picking and placing unit 5 in the present application is not specifically limited, and it can be any unit that can obtain and release the stirrups 6. In the specific implementation, the stirrup picking and placing unit 5 can be selectively made to include a stirrup picking and placing assembly 52, and the stirrup picking and placing assembly 52 can further include a clamping jaw that can clamp the stirrups 6. In the specific implementation, the stirrup picking and placing assembly 52 can be selectively made to be a picking and placing assembly including a clamping jaw and a driving unit that can realize the push-pull function; during the push-pull process of the driving unit, the clamping jaw has a clamping state and a loose state. In the specific implementation, the stirrup picking and placing assembly 52 can be selectively made to be a pneumatic clamping jaw or a hydraulic clamping jaw; preferably, the stirrup picking and placing assembly 52 is a pneumatic clamping jaw. As a convertible embodiment, the driving unit that can realize the push-pull function is also selectively made to be a screw slider module, a linear motor module, a gear rack module, etc.

[0068] When the stirrup pick-up and placement assembly 52 is a pneumatic clamp, the stirrup pick-up and placement assembly 52 is connected to the pressure gas source (gas storage tank, gas pump, etc.) through the control valve. In specific implementation, the control valve can be selectively set as an electromagnetic reversing valve (for example, a two-position five-way electromagnetic reversing valve, etc.), and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit to put the stirrup pick-up and placement assembly 52 in a clamping state or a loosening state according to process requirements.

[0069] When the stirrup pick-up and placement assembly 52 is a hydraulic clamp, the stirrup pick-up and placement assembly 52 is connected to the hydraulic source fluid circuit through the control valve and the hydraulic pump. In specific implementation, the control valve can be selectively set as an electromagnetic reversing valve (such as a two-position four-way electromagnetic reversing valve, a two-position five-way electromagnetic reversing valve, etc.), and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit to put the stirrup pick-up and placement assembly 52 in a clamping state or a loosening state.

[0070] It should be noted that the structural form of the welding workbench 1 in the present application is not specifically limited, and it can be any structural form that can constrain the stirrups 6.

[0071] It should also be noted that the stirrup placement area 2 in the present application refers to an area for placing stirrups 6 after welding; in the specific implementation, the stirrup placement area 2 is further selectively provided with a stirrup storage rack 21 for carrying the stirrups 6. In the actual production process, it is preferred that the stirrup storage rack 21 is in a state and position that can be transported. During the specific transportation, the stirrup storage rack 21 can be selectively transported by an AGV trolley, and can also be transported by a forklift, a transfer trolley, a crane, etc. In the specific implementation, at least two stirrup storage racks 21 can be selectively placed in the stirrup placement area 2, wherein at least one stirrup storage rack 21 is used to place stirrups 6 that have passed the inspection, and at least one stirrup storage rack 21 is used to place stirrups 6 that have failed the inspection. As a convertible embodiment, at least two groups of structures 211 for limiting stirrups can also be selectively provided on the stirrup storage rack 21, wherein at least one group of structures 211 for limiting stirrups is used to place qualified stirrups 6, and at least one group of structures 211 for limiting stirrups is used to place unqualified stirrups 6. Specifically as Figure 1 and Figure 2 As shown, two groups of structures 211 for limiting stirrups are arranged side by side on the stirrup storage rack 21, wherein one group of structures 211 for limiting stirrups is used for placing qualified stirrups 6, and the other group of structures 211 for limiting stirrups is used for placing unqualified stirrups 6.

[0072] It should also be noted that the structure and size of the stirrups in this application are not specifically limited, and they can be any stirrups that need to be welded. Fig.12 and Fig.13As shown, a stirrup structure with an overall rectangular shape is disclosed, and the stirrup can be selectively used as a metal skeleton of a prefabricated structure, for example, it can be used as a metal skeleton of a sleeper (especially a double-block sleeper). In specific implementation, the stirrup can also be selectively made into a stirrup structure with an overall square shape.

[0073] The present application enables the installation arm 4 included in the stirrup transfer device to be suspended on one side of the supporting structure, and enables the installation arm 4 to move along the supporting structure, and further enables the stirrup picking and placing unit 5 to be connected to the installation arm 4, so that during the movement of the installation arm 4, the stirrup picking and placing unit 5 can be driven to move along the supporting structure; further, the welding workbench 1 and the stirrup placement area 2 are located below the movement trajectory of the stirrup picking and placing unit 5, so that the stirrup picking and placing unit 5 can obtain the stirrup 6 from the welding workbench 1 and can transfer the obtained stirrup 6 to the stirrup placement area 2; thereby realizing the transfer process of the stirrup 6 from the welding workbench 1 to the stirrup placement area 2; at the same time, the next bent stirrup can be selectively placed on the welding workbench 1, thereby providing technical support for the automated production of the stirrup 6.

[0074] As some preferred implementations of the present application, specifically as follows Figures 1 to 6 As shown, the stirrup pick-up and placement unit 5 further includes a first push-pull assembly 51 and a stirrup pick-up and placement assembly 52. ​​The first push-pull assembly 51 is fixed on the mounting arm 4, and the push-pull end 511 of the first push-pull assembly is set downward; the stirrup pick-up and placement assembly 52 is used to obtain the stirrup 6 on the welding workbench 1, and the stirrup pick-up and placement assembly 52 is connected to the push-pull end 511 of the first push-pull assembly. During the push-pull process of the first push-pull assembly 51, the stirrup pick-up and placement assembly 52 is driven to move downward or upward. For example, when obtaining the stirrup 6 from the welding workbench 1, the first push-pull component 51 can be controlled to move downward toward the welding workbench 1 to the set stirrup obtaining position, and the stirrup picking and placing component 52 can obtain the stirrup 6 welded on the welding workbench 1. When the stirrup 6 is obtained, the first push-pull component 51 is further controlled to move upward in the direction away from the welding workbench 1 to the set position, and the installation arm 4 is further moved along the supporting structure to above the stirrup placement area 2, and the stirrup picking and placing device is further controlled to place the stirrup 6 in the stirrup placement area 2; thereby completing the transportation process of the stirrup 6.

[0075] It should be noted that the first push-pull component 51 in the present application is not specifically limited, and it can be any component, unit or system that can realize the push-pull function. Specifically, the first push-pull component 51 can be selectively made into one of a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a linear motor module, a gear rack linear module, a screw slider linear module, etc., so that the first push-pull component 51 can be controlled by a fluid medium or an electric unit, so as to facilitate the automatic and intelligent control of the first push-pull component 51. In specific implementation, the first push-pull component 51 is preferably a pneumatic telescopic cylinder; so that the stirrup pick-up and placement component 52 can be quickly pushed and pulled.

[0076] In specific implementation, the present application makes the stirrup picking and placing unit 5 include a first push-pull component 51 and a stirrup picking and placing component 52. Under the action of the first push-pull component 51, the stirrup picking and placing component 52 can be pushed to move toward the welding workbench 1, so that the stirrup picking and placing component 52 can grab the welded stirrups 6 from the welding workbench 1. Further, under the action of the first push-pull component 51, the stirrup picking and placing component 52 with the stirrups 6 can be driven to move to a set position in a direction away from the welding workbench 1, and the installation arm 4 is further moved along the supporting structure, so that the stirrup picking and placing component 52 can move the grabbed stirrups 6 from the welding workbench 1 to the stirrup placement area 2 and place the stirrups 6 in the stirrup placement area 2, so as to realize the transportation of the stirrups 6 after the welding is completed.

[0077] As some preferred embodiments of the present application, when the first push-pull component 51 is a pneumatic telescopic cylinder, the first push-pull component 51 is connected to the air circuit of the pressure gas source (gas storage tank, gas pump, etc.) through a control valve; in specific implementation, the control valve can be selectively made into an electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit, so that the telescopic rod of the first push-pull component 51 is in an extended state or a retracted state.

[0078] As some preferred embodiments of the present application, the first push-pull assembly 51 is a hydraulic telescopic cylinder, and the first push-pull assembly 51 is connected to the hydraulic source fluid circuit via a control valve and a hydraulic pump. In specific implementation, the control valve is preferably set as an electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the control unit circuit and is controlled by the control unit to put the first push-pull assembly 51 in an extended state or a retracted state.

[0079] As some preferred embodiments of the present application, Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, the stirrup pick-up and placement unit 5 further includes a strip-shaped mounting body 53, the middle part of which is fixedly connected to the push-pull end 511 of the first push-pull assembly; the stirrup pick-up and placement unit 5 includes two stirrup pick-up and placement assemblies 52, which are fixed on the strip-shaped mounting body 53, one stirrup pick-up and placement assembly 52 is located on the first side of the push-pull direction of the first push-pull assembly 51, and the other stirrup pick-up and placement assembly 52 is located on the second side of the push-pull direction of the first push-pull assembly 51. And the first side and the second side are in a relative positional relationship.

[0080] It should be noted that the strip-shaped mounting body 53 of the present application is not specifically limited, and it can be any structure that can be used to connect the first push-pull assembly 51 and install the two stirrup pick-and-place assemblies 52, and can meet the mechanical requirements of bearing. In specific implementation, the strip-shaped mounting body 53 can be selectively made of metal profiles, for example, it can be aluminum alloy profiles, square tubes, etc. Figures 1 to 6 As shown, the strip-shaped mounting body 53 is made of aluminum alloy profile.

[0081] Specific as Figures 1 to 6 As shown, the stirrup transfer device also includes a first mounting seat 55, a first slider 56 and a first guide rail 54 slidably matched with the first slider 56. The first mounting seat 55 is fixed on the mounting arm 4, the first push-pull assembly 51 is fixed on the first mounting seat 55, the first guide rail 54 is installed on the first mounting seat 55, and the first guide rail 54 extends downward, the first slider 56 is slidably matched with the first guide rail 54, and the strip mounting body 53 is fixedly connected with the first slider 56. During the push-pull process of the first push-pull assembly 51, the strip mounting body 53 can drive the two stirrup pick-up and placement assemblies 52 to move along the first guide rail 54 through the first slider 56. Under the action of the first guide rail 54 and the first slider 56, the stirrup pick-up and placement unit 5 can have better positioning accuracy, and thus the stirrups can be obtained from the welding workbench 1 more accurately and reliably.

[0082] The present application provides a stirrup transport device including two stirrup pick-up and placement components 52. Under the action of the two stirrup pick-up and placement components 52, two positions of the stirrup 6 can be grasped, thereby making the stirrup 6 grasped more securely, alleviating the possibility of the stirrup 6 being dislocated or falling during the grasping and transporting process, and further improving the reliability of the transport of the stirrup 6. In addition, by making the two stirrup pick-up and placement components 52 located on both sides of the push-pull direction of the first push-pull component 51, the distance between the grasping positions of the two stirrup pick-up and placement components 52 can be increased, thereby making the stirrup pick-up and placement unit 5 more capable of grasping the transported stirrup more securely.

[0083] As some preferred embodiments of the present application, the stirrup pick-up and placement assembly 52 can be further selectively set as a pneumatic clamp, one stirrup pick-up and placement assembly 52 is used to clamp the first section of the stirrup 6, and the other stirrup pick-up and placement assembly 52 is used to clamp the second section of the stirrup 6. In the specific implementation, the pneumatic clamp is connected to the pressure gas source (such as a pressure gas tank, a gas pump, etc.) through a control valve (such as a two-position five-way valve solenoid valve, etc.), and the control valve is connected to the control unit circuit and controlled by the control unit. The pneumatic clamp is controlled by the control unit and realizes its clamping function or release function according to actual process requirements. It should be pointed out that the first section of the stirrup 6 and the second section of the stirrup 6 can be adjacent straight sections of the stirrup 6, or can be opposite straight sections of the stirrup 6; in the specific implementation, it is preferred that the first section of the stirrup 6 and the second end of the stirrup 6 are set as adjacent straight sections of the stirrup 6. Through two-point clamping, the stirrup 6 can be better clamped, and the displacement and rotation of the stirrup 6 during the clamping process can be alleviated.

[0084] The present application makes the stirrup picking and placing device set as a pneumatic clamp, which can effectively improve the grabbing speed of the stirrup 6, thereby improving the transportation efficiency of the stirrup 6, and further improving the production efficiency of the stirrup 6; at the same time, there are many types of pneumatic clamps, which can be selected according to actual needs during design, without the need for additional design work.

[0085] As some preferred embodiments of the present application, Figure 8 and Fig. 9 As shown, the stirrup pick-up and placement assembly 52 further selectively includes a positioning structure 521 and a limiting structure 522, the positioning structure 521 is provided with a positioning plane 5211 facing the welding workbench 1; the limiting structure 522 is provided with a limiting groove 5221 facing the welding workbench 1; the positioning structure 521 and the limiting structure 522 are arranged on both sides of the clamping portion 523 of the pneumatic clamp in a direction perpendicular to the clamping direction of the pneumatic clamp; when the stirrup pick-up and placement assembly 52 is in a state of clamping the stirrup 6, the positioning plane 5211 abuts against the outer periphery of the stirrup 6, and the limiting groove 5221 is clamped with the outer periphery of the stirrup 6. As a convertible embodiment, the positions of the positioning structure 521 and the limiting structure 522 can be interchanged.

[0086] It should be noted that the positioning structure 521 in the present application is not specifically limited, and it can be any structure including the positioning plane 5211; specifically, the positioning structure 521 can be selectively configured as a sheet, plate, strip, or block structure. Figure 8 and Fig. 9As shown, the positioning structure 521 is a plate-like structure and is fixed to one side of the clamping jaw by a connecting member (bolt or screw). Similarly, the limiting structure 522 in the present application is not specifically limited, and it can be any structure including the limiting groove 5221. Specifically, the limiting structure 522 can be selectively set to a sheet, plate, strip, or block structure. Figure 8 and Fig. 9 As shown, the positioning structure 521 is a plate-like structure and is fixed to the other side of the clamping jaw by a connecting member (bolt or screw).

[0087] The present application can vertically position the stirrup 6 by setting a positioning plane 5211 facing the welding workbench 1 on the positioning structure 521, and can horizontally limit the stirrup 6 by setting a limiting groove 5221 on the limiting structure 522, so that the positioning of the stirrup 6 is more accurate, the stirrup 6 is better grasped, and it is helpful to transfer the stirrup 6 to the stirrup storage rack 21 set in the stirrup placement area 2. In addition, when the stirrup picking and placing unit 5 includes two stirrup picking and placing components 52, the positioning structure 521 and the limiting structure 522 are designed in this way to avoid over-positioning of the stirrup 6.

[0088] As some preferred embodiments of the present application, the stirrup transfer device further selectively includes a mounting arm driving assembly 7, the mounting arm 4 is connected to the load-bearing beam 32 through the mounting arm driving assembly 7, and the mounting arm driving assembly 7 can drive the mounting arm 4 to move along the extension direction of the load-bearing beam 32. It should be pointed out that the mounting arm driving assembly 7 of the present application can be any driving assembly that can drive the mounting arm 4 and move along the extension direction of the load-bearing beam 32. Further, the mounting arm driving assembly 7 is connected to the control unit circuit and is controlled by the control unit.

[0089] In specific implementation, Figure 1 , Figure 2 , Fig.10 and Fig.11As shown, the mounting arm driving assembly 7 is a linear motor module, which is fixed to one side of the load-bearing beam 32 along the extension direction of the load-bearing beam 32, and the mounting arm 4 is transmission-connected to the load-bearing beam 32 via the linear motor module. In a specific implementation, the function of driving the mounting arm 4 is achieved by energizing the linear motor module. In a specific implementation, the stator of the linear motor module is fixed to one side of the load-bearing beam 32 along the extension direction of the load-bearing beam 32, so that the mover of the linear motor module is fixed to the mounting arm 4, and specifically, the mounting arm 4 includes a mounting arm body 41 and a connecting flange 42, and the connecting flange 42 is fixed to one end of the mounting arm body 41, and the connecting flange 42 is fixedly connected to the mover of the linear motor module (it can be connected by connecting parts such as screws and bolts, or it can be connected by welding). In a specific implementation, the control unit controls the linear motor module according to the actual working conditions to drive the mounting arm 4 to run along the load-bearing beam 32 to the set position.

[0090] As some convertible embodiments of the present application, the mounting arm driving assembly 7 can also be selectively made into a gear rack linear module, the gear rack linear module is fixed on the load beam 32 along the extension direction of the load beam 32, and the mounting arm 4 can be connected to the load beam 32 through the gear rack linear module. The gear rack linear module includes a driving motor, a transmission gear, a rack, a slide and a guide rail adapted to the slide; in specific implementation, the transmission gear is connected to the output shaft of the driving motor by transmission, the transmission gear is meshed with the rack, the guide rail and the rack are fixed on the load beam 32 along the extension direction of the load beam 32, the driving motor and the slide are fixed on the mounting arm 4, and the slide is connected with the guide rail in a sliding manner; when the driving motor is powered, the meshing transmission of the transmission gear and the rack drives the mounting arm 4 to move along the guide rail (not shown in the figure). Further, the control unit is connected to the driving motor circuit included in the gear rack linear module, and the driving motor is controlled by the control unit. In specific implementation, the control unit controls the driving motor according to actual working conditions to drive the mounting arm 4 to move along the load-bearing beam 32 to a set position.

[0091] As some convertible embodiments of the present application, the installation arm drive assembly 7 can also be selectively made into a screw slider module, the screw slider module is fixed on the load beam 32 along the extension direction of the load beam 32, and the installation arm 4 is connected to the load beam 32 through the screw slider module. The screw slider includes a drive motor, a screw, a slider adapted to the screw, and a slide rail adapted to the slide rail. In the specific implementation, the screw is connected to the load beam 32 through the bearing seat along the extension direction of the load beam 32, the drive motor is connected to the screw, and the slide rail is fixedly connected to the installation arm 4. When the drive motor is powered, the motor drives the screw to rotate, and during the rotation of the screw, the installation arm 4 is driven to move along the slide rail through the slide rail (not shown in the figure). Further, the control unit is connected to the drive motor circuit included in the screw slider module, and the drive motor is controlled by the control unit. In the specific implementation, the control unit controls the drive motor according to the actual working conditions to drive the installation arm 4 to run to the set position along the load beam 32.

[0092] As some preferred embodiments of the present application, the mounting arm driving assembly 7 can also be selectively made into a synchronous belt linear module, the synchronous belt linear module is fixed on the load-bearing beam 32 along the extension direction of the load-bearing beam 32, and the mounting arm 4 is transmission-connected to the load-bearing beam 32 via the synchronous belt linear module. Further, the control unit is connected to the driving motor circuit included in the synchronous belt linear module, and the driving motor is controlled by the control unit. In specific implementation, the control unit controls the driving motor according to the actual working conditions to drive the mounting arm 4 to run along the load-bearing beam 32 to a set position.

[0093] In addition to the above-mentioned embodiments, the mounting arm driving assembly 7 can also be selectively made to be a driving assembly including a telescopic cylinder (pneumatic telescopic cylinder, hydraulic telescopic cylinder); the specific connection method is a conventional setting in the field and will not be described here.

[0094] The present application sets the installation arm drive assembly 7 as one of the linear motor module, gear rack linear module, screw slider module or synchronous belt linear module, and makes the installation arm drive assembly 7 controlled by the control unit, so that the installation arm can move along the load-bearing beam 32 under the drive of electricity or pressure medium, providing technical guarantee for the automatic and intelligent transportation of the stirrup 6. In addition, the linear motor module, gear rack linear module, screw slider module or synchronous belt linear module are all ready-made products. In the specific design, they can be selected according to actual needs, which effectively reduces the design difficulty of the stirrup transportation device, shortens the research and development cycle, and makes the stirrup transportation device have reliable performance, reducing the failure rate and maintenance cost of the equipment. In addition, the present application connects the installation arm drive assembly 7 to the control unit circuit and is controlled by the control unit, so that the installation arm drive assembly 7 can be driven according to the actual working conditions to drive the installation arm 4 to run along the load-bearing beam 32 to the set position.

[0095] In a second aspect, the present application provides a stirrup processing device, such as Figure 1 and Figure 2 As shown, the stirrup processing equipment includes a welding workbench 1, a stirrup placement area 2 and a stirrup transfer device as described in any of the aforementioned embodiments; the welding workbench 1 is used to constrain the stirrups 6, the welding workbench 1 and the stirrup placement area 2 are arranged directly below the running track of the stirrup picking and placing unit 5, and the stirrup placement area 2 is provided with a stirrup storage rack 21.

[0096] As some preferred embodiments of the present application, Figure 1 , Figure 2 , Fig.10 and Fig.11 As shown, the stirrup processing equipment further includes a welder for welding stirrups, the welder includes a welding gun 81 and a wire feeder 82, the welding gun 81 is connected to the mounting arm 4, and the welding gun 81 is facing downward; the mounting arm 4 is provided with a wire feeder mounting position, and the wire feeder 82 is installed on the wire feeder mounting position, and the wire feeder 82 can provide welding wire to the welding gun 81. It should be pointed out that there is no specific restriction on the wire feeder mounting position, and it can be any position connected to the mounting arm 4 and satisfying the installation of the wire feeder 82. In specific implementation, as Figure 1 and Figure 2 As shown, a mounting plate for fixing a wire feeder 82 is provided on the mounting arm drive assembly 7, and the wire feeder 82 is fixed on the mounting plate, and the mounting plate can drive the wire feeder 82 to move synchronously with the movement of the mounting arm 4. As a convertible embodiment, the mounting plate can also be selectively fixed on the mounting arm 4.

[0097] By installing the wire feeder 82 on the mounting arm 4 or on a structure fixedly connected to the mounting arm 4, the present application can keep the wire feeder 82 and the welding gun 81 in a relatively static state during the movement of the mounting arm 4, thereby enabling the wire feeder 82 to provide welding wire to the welding gun 81 more stably and reliably, thereby ensuring the smooth implementation of the stirrup welding process.

[0098] As some preferred embodiments of the present application, it is further preferred that the stirrup processing equipment also includes a second push-pull component 91 and a welding gun mounting seat 92, the second push-pull component 91 is fixed on the mounting arm 4, and the push-pull end 911 of the second push-pull component faces downward; the welding gun mounting seat 92 is connected to the push-pull end 911 of the second push-pull component, the welding gun 81 is fixed on the welding gun mounting seat 92, and the welding gun 81 has a position for welding the stirrups. It should be pointed out that the second push-pull component 91 in the present application is not specifically limited, and it can be any component with a push-pull function. As a convertible embodiment, the second push-pull component 91 can be selectively set to a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a screw slider linear module, a gear rack linear module, etc. In specific implementation, it is preferred that the second push-pull component 91 is set to a pneumatic telescopic cylinder; further, the second push-pull component 91 is controlled by the control unit.

[0099] In a specific implementation, the second push-pull component 91 can be selectively made to be a pneumatic telescopic cylinder, and the second push-pull component 91 can be connected to the gas circuit of the pressure gas source (gas storage tank, gas pump, etc.) through a control valve; in a specific implementation, the control valve can be selectively made to be an electromagnetic reversing valve, and the electromagnetic reversing valve can be connected to the control unit circuit and controlled by the control unit, so that the telescopic rod of the second push-pull component 91 is in an extended state or a retracted state.

[0100] As some preferred embodiments of the present application, when the second push-pull assembly 91 is a hydraulic telescopic cylinder, the second push-pull assembly 91 is connected to the hydraulic source fluid circuit via a control valve and a hydraulic pump. In specific implementation, the control valve is preferably set as an electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit to put the second push-pull assembly 91 in an extended state or a retracted state.

[0101] As some preferred embodiments of the present application, the stirrup processing equipment may further selectively include a protective cover 93, which is arranged near the gun head of the welding gun 81. Figure 3 and Figure 5 As shown, a through hole is provided in the middle of the protective cover 93, and the tip of the welding gun 81 extends from the top of the protective cover 93 to the bottom of the protective cover 93 through the through hole. During the welding process, the protective cover 93 can block the spatter generated during the welding process, and can also block the strong light generated during welding, thereby reducing the damage to the workers during the welding process.

[0102] It should be noted that the welding gun mounting seat in the present application is a mounting seat for fixing the welding gun, and its structure is not specifically limited, and it can be any structural form that satisfies the installation of the welding gun. Figure 1 and Figure 2As shown, the welding gun mounting seat 92 is fixedly connected to the push-pull end 911 of the second push-pull assembly, and the welding gun 81 is fixed on the welding gun mounting seat 92, and the gun head of the welding gun 81 is set downward. The second mounting seat 95 is fixed on the mounting arm 4, as shown in FIG. Figures 3 to 6 As shown, the second mounting seat 95 is in the shape of a strip as a whole; the second mounting seat 95 is fixed on one side of the mounting arm 4 and extends downward as a whole, the second push-pull assembly 91 is fixed on the second mounting seat 95, and a second guide rail 94 extending downward is provided on the second mounting seat 95, the welding gun mounting seat 92 is connected to the second guide rail 94 through a second slider 96 that is slidably adapted to the second guide rail 94, and when the second push-pull assembly 91 is pushed and pulled, the welding gun 81 moves upward or downward along the extension direction of the second guide rail 94 with the welding gun mounting seat 92.

[0103] As some preferred embodiments of the present application, the stirrup processing equipment further selectively includes a weld detection unit 10, the weld detection unit 10 is fixed on the mounting arm 4, and the detection area of ​​the weld detection unit 10 covers the welding area of ​​the stirrup; the second push-pull assembly 91 can be further selectively a pneumatic telescopic cylinder or a hydraulic telescopic cylinder. It should be noted that the weld detection unit 10 in the present application is not specifically limited, and it can be any detection instrument that can meet the requirements of stirrup weld detection. The weld detection unit 10 can at least detect at least one of the weld length, weld height deviation, weld width deviation and weld quality detection, wherein the weld quality detection includes whether there is an open weld or looseness. In a specific implementation, the weld detection unit 10 is preferably an industrial camera that can detect the weld 61. In a specific implementation, such as Figures 1 to 6 As shown, the weld detection unit 10 is fixed on the mounting arm 4 and faces away from the second push-pull assembly 91 , so that the weld detection unit 10 can pass through the welding area of ​​the weld 61 when moving along the load-bearing beam 32 with the mounting arm 4 .

[0104] It should be pointed out that in the stirrup processing equipment of the present application, the stirrup picking and placing unit 5, the weld detection unit 10 and the second push-pull assembly 91 for pushing and pulling the welding gun 81 arranged on the mounting arm 4 are not specifically limited in their locations, and they can be selectively arranged according to actual needs. In specific implementation, the second push-pull assembly 91 for pushing and pulling the welding gun 81 and the weld detection unit 10 are preferably arranged along the walking direction of the mounting arm 4. Specifically, Figure 3 and Figure 4 As shown, the stirrup placing unit 5 is installed at the cantilever end of the mounting arm 4, while the weld inspection unit 10 and the second push-pull assembly 91 are installed near the fixed end of the mounting arm 4 and are opposite to each other. Figure 5 and Figure 6 As shown, the weld detection unit 10 and the second push-pull assembly 91 are installed at the cantilever end of the mounting arm 4 , and the stirrup picking and placing unit 5 is installed near the fixed end of the mounting arm 4 .

[0105] In a third aspect, the present application provides a stirrup processing system, which includes at least one stirrup processing device as described in any of the above embodiments. It should be noted that the number and arrangement of the stirrup processing devices included in the stirrup processing system in the present application are not specifically limited, and can be selectively arranged according to actual production needs. Fig.10 As shown in FIG. 1 , the stirrup production line includes a stirrup processing device. Fig.11 As shown, the stirrup production line includes two stirrup processing devices, and the two stirrup processing devices are arranged side by side and opposite to each other.

[0106] In a fourth aspect, the present application also provides a stirrup production line, specifically Fig.10 and Fig.11 As shown, the stirrup production line includes a steel bar bending unit 100, a stirrup transfer robot 1000 and the aforementioned stirrup processing system; the steel bar bending unit 100 is used to bend the steel bar into stirrups; the stirrup transfer robot 1000 is used to obtain stirrups from the steel bar bending unit 100 and transfer the obtained stirrups to the welding workbench 1. Fig.10 and Fig.11 As shown, the stirrup transfer robot 1000 includes a robotic arm and a clamp for clamping the stirrups formed by bending the steel bar bending unit 100, wherein the clamp is installed at the free end of the robotic arm, and the robotic arm is controlled by a control unit. Furthermore, there is no specific restriction on the number of stirrups that the clamp can clamp, and in the actual production process, the clamp can selectively clamp one stirrup, two stirrups, three stirrups, four stirrups, etc. at a time. The specific number can be determined according to the number of stirrup processing equipment corresponding to the stirrup transfer robot 1000. Specifically, Fig.11 As shown, the stirrup production line includes two stirrup processing devices, the clamp includes two sets of components for clamping stirrups, and the stirrup transfer robot 1000 can provide stirrups to the two stirrup processing devices of the stirrup production line.

[0107] In a fifth aspect, the present application further provides a sleeper production line, which includes the aforementioned stirrup production line. During the production process of the sleepers, the qualified stirrups produced by the stirrup production line are transferred to the workstations that need stirrups by the transfer equipment.

[0108] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A stirrup transport device, characterized in that: The stirrup transfer device is used to transfer the stirrups welded on the welding workbench to the stirrup placement area; the stirrup transfer device includes: Support structure; a mounting arm, the mounting arm being disposed on one side of the supporting structure and being movable along the supporting structure; and A stirrup picking and placing unit is used to pick and place stirrups. The stirrup picking and placing unit is connected to the installation arm. The welding workbench and the stirrup placement area are located below the movement track of the stirrup picking and placing unit.

2. The stirrup transport device according to claim 1, characterized in that: The stirrup placing unit comprises: a first push-pull assembly, wherein the first push-pull assembly is fixed to the mounting arm, and a push-pull end of the first push-pull assembly is arranged downward; and A stirrup picking and placing assembly is used to obtain the stirrups on the welding workbench, and the stirrup picking and placing assembly is connected to the push-pull end of the first push-pull assembly.

3. The stirrup transport device according to claim 2, characterized in that: The stirrup taking and placing unit further comprises a strip-shaped installation body, the middle portion of which is fixedly connected to the push-pull end of the first push-pull assembly; The stirrup picking and placing unit includes two stirrup picking and placing assemblies, which are fixed on the strip-shaped mounting body, one stirrup picking and placing assembly is located on the first side of the push-pull direction of the first push-pull assembly, and the other stirrup picking and placing assembly is located on the second side of the push-pull direction of the first push-pull assembly.

4. The stirrup transport device according to claim 3, characterized in that: The stirrup picking and placing assembly is configured as a pneumatic clamp, one of the stirrup picking and placing assembly is used to clamp the first section of the stirrup, and the other stirrup picking and placing assembly is used to clamp the second section of the stirrup; and / or, The first push-pull assembly is a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

5. The stirrup transport device according to claim 4, characterized in that: The stirrup placement assembly also includes: A positioning structure, wherein the positioning structure is provided with a positioning plane facing the welding workbench; and A limiting structure, wherein the limiting structure is provided with a limiting groove facing the welding workbench; The positioning structure and the limiting structure are arranged on both sides of the clamping part of the pneumatic clamp in a direction perpendicular to the clamping direction of the pneumatic clamp; when the stirrup picking and placing assembly is in a state of clamping the stirrup, the positioning plane abuts against the outer periphery of the stirrup, and the limiting groove is clamped with the outer periphery of the stirrup.

6. The stirrup transport device according to claim 1, characterized in that: The support structure comprises a support column and a load-bearing beam, the load-bearing beam is fixed on the support column, and the mounting arm is suspended on one side of the load-bearing beam; The stirrup transfer device also includes an installation arm driving assembly, through which the installation arm is connected to the load-bearing beam, and the installation arm driving assembly can drive the installation arm to move along the extension direction of the load-bearing beam.

7. The stirrup transport device according to claim 6, characterized in that: The mounting arm driving assembly is a linear motor module, the linear motor module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the linear motor module; or, The mounting arm driving assembly is a gear rack linear module, the gear rack linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the gear rack linear module; or, The mounting arm driving assembly is a screw slider module, the screw slider module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the screw slider module; or, The mounting arm driving assembly is a synchronous belt linear module, and the synchronous belt linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam. The mounting arm is transmission-connected to the load-bearing beam via the synchronous belt linear module.

8. A stirrup processing equipment, characterized in that: The stirrup processing equipment comprises the welding workbench, the stirrup placement area and the stirrup transfer device according to any one of claims 1 to 7; The welding workbench is used to constrain stirrups. The welding workbench and the stirrup placement area are arranged directly below the running track of the stirrup taking and placing unit. The stirrup placement area is provided with a stirrup storage rack.

9. The stirrup processing equipment according to claim 8, characterized in that: The stirrup processing equipment also includes a welding machine for welding stirrups, and the welding machine includes: A welding gun, the welding gun is connected to the mounting arm, and the gun head of the welding gun is facing downward; A wire feeder, a wire feeder mounting position is provided on the mounting arm, the wire feeder is mounted on the wire feeder mounting position, and the wire feeder can provide welding wire to the welding gun.

10. The stirrup processing equipment according to claim 9, characterized in that: The stirrup processing equipment also includes: A second push-pull assembly, wherein the second push-pull assembly is fixed on the mounting arm, and a push-pull end of the second push-pull assembly faces downward; A welding gun mounting seat is connected to the push-pull end of the second push-pull assembly, the welding gun is fixed on the welding gun mounting seat, and the welding gun has a position for welding stirrups.

11. The stirrup processing equipment according to claim 10, characterized in that: The stirrup processing equipment further comprises a weld detection unit, the weld detection unit is fixed on the mounting arm, and the detection area of ​​the weld detection unit can cover the welding area of ​​the stirrup; and / or, The second push-pull assembly is a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

12. A stirrup processing system, characterized in that: The stirrup processing system comprises at least one stirrup processing device according to any one of claims 8 to 11.

13. The stirrup processing system according to claim 12, characterized in that: The stirrup processing system comprises at least two stirrup processing devices, and the at least two stirrup processing devices are installed side by side.

14. A stirrup production line, characterized in that: The stirrup production line comprises: The stirrup processing system according to claim 12 or 13; A steel bar bending unit, which is used to bend the steel bars into stirrups; A stirrup transfer robot is used to obtain stirrups from the steel bar bending unit and transfer the obtained stirrups to the welding workbench.

15. A sleeper production line, characterized in that: The sleeper production line comprises the stirrup production line as claimed in claim 14.

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